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<h1>eul2jac</h1><p><span class="helptopic">Euler angle rate Jacobian</span></p><p>
<strong>J</strong> = <span style="color:red">eul2jac</span>(<strong>eul</strong>) is a Jacobian matrix (3x3) that maps Euler angle rates to
angular velocity at the operating point <strong>eul</strong>=[PHI, THETA, PSI].

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<p>
<strong>J</strong> = <span style="color:red">eul2jac</span>(<strong>phi</strong>, <strong>theta</strong>, <strong>psi</strong>) as above but the Euler angles are passed
as separate arguments.

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<h2>Notes</h2>
<ul>
  <li>Used in the creation of an analytical Jacobian.</li>
</ul>
<h2>See also</h2>
<p>
<a href="rpy2jac.html">rpy2jac</a>, <a href="SerialLink.JACOBN.html">SerialLink.JACOBN</a></p>
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